Flexible flushing device for insulator

Abstract

The invention discloses a flexible flushing device for insulators. The flexible flushing device comprises a transporting device vehicle, a flushing system, a pneumatic device, a mixed type mechanical arm and a flexible flushing clamp. A rotating platform and a mixed type mechanical arm are arranged on the transporting device vehicle; the hybrid mechanical arm is formed by connecting a hydraulic rigid mechanical arm and a linear drive type flexible mechanical arm; the linear driving type flexible mechanical arm comprises three movable joints consisting of a fixed circular ring, a central rod, a spherical hinge type universal joint and a driving rope; the flushing system comprises a water tank, a water pipe and a plurality of adjustable spiral sprayers, and the adjustable spiral sprayers are connected with the water tank through the water pipe; the pneumatic system comprises an air compressor, an air pipe, an air inlet valve and an exhaust valve. The problems that all corners of the insulator can not be effectively touched by manual flushing, and the flushing effect is common are solved, meanwhile, the insulator with any posture and any length can be flushed, and the cleaning effect and safety of the insulator are improved.

Description

Technical Field

[0001] The invention belongs to the field of automatic control technology for water flushing of insulators, and in particular relates to a flexible flushing device for insulators. Background Art

[0002] With its significant advantages such as strong transportation capacity, fast speed, low operating cost, energy saving and environmental protection, electrified railways have become the core symbol of modern rail transportation. In recent years, my country's electrified railway construction has shown a booming and rapid development. But at the same time, the safety issues of the electrified railway contact network power supply system have become increasingly prominent and have become extremely important. Insulators occupy a pivotal position in the contact network power supply system and are key components for achieving electrical insulation functions. However, given the current rising concentration of pollutants in the air, coupled with the agitation of a large number of dust particles and other tiny particles during the running of trains, the surface contamination of insulators in the outdoor environment for a long time has continued to increase, thus forming an extremely serious safety hazard.

[0003] Since the shape of insulators is usually complex, with many depressions, gaps and multi-layer shed structures, it is difficult to ensure that every corner can be cleaned during manual flushing. For example, hidden parts such as the inner side and bottom of the shed of the insulator may not be effectively reached by manual flushing, which is easy to leave dirt and affect the insulation performance of the insulator. At the same time, for the staff, not only is the working environment harsh, but there are also major safety hazards. In addition, some rigid flushing fixtures that use rigid structures to wrap insulators have some problems: when facing insulators with narrow surrounding space and different postures, it is difficult for the flushing fixture to wrap the insulator; when facing insulators of different lengths, it is difficult to ensure that the insulator is completely flushed or prevent the flushing water from not flushing the insulator. Summary of the invention

[0004] In order to solve the problem that manual flushing cannot effectively reach every corner of the insulator and the flushing effect is general, the present invention provides a flexible flushing device for insulators.

[0005] The invention discloses an insulator flexible flushing device, which comprises a transport device vehicle, a flushing system, a pneumatic device, a hybrid mechanical arm and a flexible flushing fixture.

[0006] A rotating platform, a water tank, an air compressor and a hybrid mechanical arm are arranged on the transport device vehicle.

[0007] The hybrid robot arm is composed of a hydraulic rigid robot arm and a wire-driven flexible robot arm.

[0008] The hydraulic rigid mechanical arm is connected to the rotating platform through a hinge seat and a hinge shaft, and the hinge seat and the rotating platform are bolted together; a hydraulic telescopic rod is also provided between the hydraulic rigid mechanical arm and the rotating platform, and the hydraulic telescopic rod, the rotating platform and the hydraulic cylinder rigid mechanical arm are rotated through a hinge; a drive box is embedded in the end of the hydraulic rigid mechanical arm, and a support rod is provided in the middle of the drive box; the sides of the hydraulic rigid mechanical arm are equidistantly connected to the buckles for limiting the water pipes and the air pipes in the axial direction.

[0009] The wire-driven flexible robotic arm includes three movable joints consisting of a fixed ring, a center rod, a ball-joint universal joint and a driving rope; each joint is composed of a lower fixed ring, a center rod and an upper fixed ring from bottom to top, and the lower fixed ring of the first joint is fixed to the upper surface of a driving box by bolt connection; nine wire-through holes are sequentially arranged on the circumference of the upper fixed ring and the lower fixed ring of each joint; the three joints are connected by a ball-joint universal joint between the upper fixed ring of the previous joint and the lower fixed ring of the next joint, and each joint is driven by three independent driving ropes spaced 120 degrees apart along the circumference, and the three driving ropes of each joint are connected to the upper fixed ring of the corresponding joint through the wire-through holes; the center of the fixed ring is the center hole of the fixed center rod; the side of the fixed ring is provided with a water pipe buckle and an air pipe buckle.

[0010] A clamping device is provided on the upper surface of a fixed circular ring at the end of the line-driven flexible mechanical arm, and the clamping device is connected to a flexible flushing fixture; a main water pipe groove, four auxiliary water pipe grooves and an air pipe groove are provided inside the flexible flushing fixture.

[0011] The flushing system comprises a water tank, a water pipe and a plurality of adjustable spiral spray heads connected to the axial water pipe fixed in the inner groove of the flexible flushing fixture. The adjustable spiral spray heads are connected to the water tank through the water pipe.

[0012] The air pipe of the pneumatic system is fixed in the internal air pipe groove, the air inlet valve is arranged at the bottom of the air pipe groove, and the air exhaust valve is arranged on the side of the flexible flushing fixture.

[0013] Furthermore, the rotating platform is embedded in the transport device vehicle, and a first motor and a slewing bearing are arranged inside the rotating platform.

[0014] Furthermore, the drive box is provided with second to tenth motors, and the second to tenth motors are respectively connected to nine screw rods through couplings, and the nine screw rods are evenly distributed along the circumference of 40 degrees. Slide blocks are provided on the screw rods, and the slide blocks are respectively connected to nine driving ropes. Nine wire holes are provided on the upper surface of the drive box, and each joint is driven by three driving ropes spaced 120 degrees along the circumference. The nine wire holes on the upper surface of the drive box correspond one by one to the wire holes on the fixed ring.

[0015] Furthermore, the clamping device includes an eleventh motor, a coupling, a slider, a screw, a fixed rod, a limit block and a clamping link, and the end of the clamping link is connected to a flexible flushing clamp; the screw outputs the rotational motion provided by the eleventh motor as a linear motion of the slider on the screw, thereby realizing the clamping of the clamping link, and the limit block prevents the clamp from over-closing.

[0016] Furthermore, the flexible flushing fixture realizes axial expansion and contraction changes by pneumatic means, and the chamber of the flexible flushing fixture is formed by a series of regularly arranged corrugations, and flexible fibers are evenly distributed inside the corrugations.

[0017] Furthermore, the main water pipe groove extends circumferentially along the axial midpoint of the flexible flushing fixture, and the four auxiliary water pipe grooves are connected to the main water pipe groove and extend axially.

[0018] Furthermore, the water pipe adopts a nested telescopic water pipe at the hydraulic rigid mechanical arm, and adopts a bellows from the water tank to the hydraulic rigid mechanical arm, on the online drive type flexible mechanical arm and inside the flexible flushing fixture.

[0019] Furthermore, the air pipe groove extends axially at the center position of the flexible flushing fixture; the air pipe adopts a nested air pipe in the clamp of the hydraulic rigid mechanical arm, and a rubber air pipe is adopted inside the line-driven flexible mechanical arm and the flexible flushing fixture.

[0020] A flushing method of an insulator flexible flushing device of the present invention comprises the following steps:

[0021] Step 1: The gear inside the rotating platform is driven by the first motor to perform a rotational motion, thereby controlling the hybrid robot arm to rotate to a suitable position.

[0022] Step 2: The hydraulic telescopic rod connected between the hydraulic rigid robotic arm and the rotating platform controls the pitch movement of the hybrid robotic arm through hydraulic drive. At the same time, the hydraulic rigid robotic arm also changes its own length through hydraulic drive, so that the position of the insulator enters the effective stroke of the line-driven flexible robotic arm; the retractable water pipe attached to the hydraulic rigid robotic arm also retracts and contracts with the extension and retraction of the hydraulic rigid robotic arm.

[0023] Step 3: By identifying the position information of the insulator in the system and transmitting it to the PLC control system, the nine motors in the drive box drive the linear motion of the lead screw, thereby driving the stretching and relaxation of the nine drive ropes, realizing the bending and twisting of each joint, so that the flexible flushing fixture can accurately wrap the insulator; the bellows attached to the line-drive flexible robotic arm also changes with the changes of the line-drive flexible robotic arm.

[0024] Step 4: In the clamping device, the end of the lead screw is connected to the connecting rod, and driven by the eleventh motor, the linear motion of the slider on the lead screw is converted into the clamping motion of the end of the connecting rod, thereby realizing the clamping of the flexible flushing clamp.

[0025] Step 5: Close the flexible flushing fixture, open the air inlet valve according to the actual length of the insulator in the control system, and the air compressor will pass gas into the air cavity of the flexible flushing fixture to change the pressure inside the air cavity to achieve axial extension of the flexible flushing fixture. After the required air pressure is reached in the air cavity, close the air inlet valve to keep the air pressure in the air cavity stable so that the axial expansion and contraction of the flexible flushing fixture can be maintained; open the exhaust valve on the flexible flushing fixture, close the air inlet valve, and the flexible flushing fixture returns to its original length; since the water pipes and air pipes in the auxiliary water pipe groove and the air pipe groove are fixed to the inner wall of the fixture, when the flexible flushing fixture expands and contracts axially, the water pipes and air pipes will also expand and contract accordingly.

[0026] Step 6: Open the water valve to flush the insulator. The water flow sprayed by the adjustable spiral nozzle reaches the surface of the insulator and still has a tendency to rotate, thereby forming a vortex to improve the flushing effect. At the same time, the adjustable fan-shaped nozzle is driven by the motor to swing to increase the flushing range. When the position of the adjustable fan-shaped nozzle moves away from or closer to the flexible clamp as it moves forward or backward, the swing angle range of the adjustable spiral nozzle will also change accordingly, ensuring complete flushing of the insulator or reducing the overlapping parts of the flushing areas of adjacent fan-shaped nozzles.

[0027] The beneficial technical effects of the present invention are:

[0028] (1) In view of the poor flushing effect of traditional manual flushing of insulators using water guns and the safety of workers who flush with water, the present invention uses the flexible movement characteristics of the hybrid robot arm to accurately control the flexible flushing fixture so that it can accurately wrap the insulator, achieving all-round close-range and efficient flushing of the insulator, effectively overcoming the problem that traditional flushing methods are difficult to reach the complex parts of the insulator. In addition, the invention effectively replaces manual operation, keeps workers away from dangerous environments, and fundamentally eliminates potential safety hazards.

[0029] (2) The present invention uses a combination of a hydraulic rigid robotic arm and a line-driven flexible robotic arm, so that the flexible flushing fixture can be adjusted according to the position of the insulator, which greatly broadens the applicable scenarios and efficiently cleans the insulator.

[0030] (3) The flexible flushing fixture of the present invention uses a pneumatic device to achieve precise control of its own telescopic state. In actual operation scenarios, the lengths of insulators often vary. When faced with these insulators of different lengths, the flexible flushing fixture can flexibly adjust its own length by relying on the drive of the pneumatic device, so that it can completely wrap the insulator, ensuring that the insulator is completely flushed or preventing the flushing water from not flushing the insulator.

[0031] (4) During the flushing process, the present invention drives the adjustable spiral nozzle to swing through a motor to increase the flushing range. At the same time, when the position of the adjustable spiral nozzle moves away from or closer to the flexible clamp as it expands and contracts, the swing angle range of the adjustable spiral nozzle will also change accordingly, thereby ensuring complete flushing of the insulator or reducing the overlapping parts of the flushing areas of adjacent fan-shaped nozzles. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of the flexible flushing device for insulators of the present invention.

[0033] Figure 2 This is the layout diagram of the water pipes and air pipes inside the flexible flushing fixture.

[0034] Figure 3 Schematic diagram of the structure of the flexible flushing fixture.

[0035] Figure 4 It is a schematic diagram of the structure of the fixed ring.

[0036] Figure 5 It is a schematic diagram of the structure of the clamping device.

[0037] In the figure: 1.1-transportation vehicle; 1.2-slewing bearing; 1.3-water tank; 1.4-rotating platform; 1.5-air compressor; 1.6-hydraulic telescopic rod; 1.7-hinge seat and hinge shaft; 1.8-hinge; 1.9-hydraulic rigid mechanical arm; 1.10-clip; 1.11-drive box; 1.12-drive rope; 1.13-fixed ring; 1.14-ball joint universal joint; 1.15-center rod; 1.16-clamping device; 1.17-flexible flushing fixture; 1.18-wire drive flexible Robotic arm; 1.19-support rod; 2.1-main water pipe groove; 2.3-auxiliary water pipe groove; 2.4-tracheal groove; 2.5-through hole; 2.6-inlet valve; 3.1-chamber; 3.2-exhaust valve; 3.3-adjustable spiral nozzle; 4.1-water pipe buckle; 4.2-through hole; 4.3-center hole; 4.4-tracheal buckle; 5.1-eleventh motor; 5.2-coupling; 5.3-slider; 5.4-screw; 5.5-clamping connecting rod; 5.6-fixing rod; 5.7-limiting block. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0039] A flexible flushing device for insulators according to the present invention is as follows Figure 1 As shown, it includes a transport device vehicle 1.1, a flushing system, a pneumatic device, a hybrid robot arm and a flexible flushing fixture 1.17.

[0040] like Figure 1As shown, a rotating platform 1.4, a water tank 1.3, an air compressor 1.5 and a hybrid robot arm are arranged on the transporter vehicle 1.1.

[0041] The hybrid robot arm is composed of a hydraulic rigid robot arm 1.9 and a line-driven flexible robot arm 1.18.

[0042] like Figure 1 As shown, the hydraulic rigid mechanical arm 1.9 is connected to the rotating platform 1.4 through a hinge seat and a hinge shaft 1.7, and the hinge seat and the rotating platform 1.4 are bolted together; a hydraulic telescopic rod 1.6 is also provided between the hydraulic rigid mechanical arm 1.9 and the rotating platform 1.4, and the hydraulic telescopic rod 1.6, the rotating platform 1.4 and the hydraulic cylinder rigid mechanical arm 1.9 are rotated through a hinge 1.8; a drive box 1.11 is embedded in the end of the hydraulic rigid mechanical arm, and a support rod 1.19 is provided in the middle of the drive box 1.11; the side of the hydraulic rigid mechanical arm 1.9 is equidistantly connected to the buckle 1.10 for limiting the water pipe and the air pipe in the axial direction.

[0043] like Figure 1 As shown, the line-driven flexible manipulator 1.18 includes three movable joints consisting of a fixed ring 1.13, a center rod 1.15, a ball-joint universal joint 1.14 and a driving rope 1.12; each joint is composed of a lower fixed ring, a center rod 1.15 and an upper fixed ring from bottom to top, and the lower fixed ring of the first joint is fixed to the upper surface of the driving box 1.11 by bolt connection; nine wire holes 4.2 are arranged on the circumference of the upper and lower fixed rings of each joint; the three joints are connected by the upper fixed ring of the previous joint. The fixed circular ring is connected to the lower fixed circular ring of the next joint by a ball-jointed universal joint 1.14. Each joint is driven by three independent driving ropes 1.12 spaced 120 degrees along the circumference. The three driving ropes 1.12 of each joint are connected to the upper fixed circular ring of the corresponding joint through the wire holes 4.2. The center of the fixed circular ring 1.13 is the center hole 4.3 of the fixed center rod 1.15. The side of the fixed circular ring 1.13 is provided with a water pipe buckle 4.1 and an air pipe buckle 4.4. The structure of the fixed circular ring 1.13 is as follows: Figure 4 shown.

[0044] like Figure 1 As shown, a clamping device 1.16 is provided on the upper surface of the fixed ring 1.13 at the end of the line-driven flexible mechanical arm 1.18, and the clamping device 1.16 is connected to a flexible flushing fixture 1.17; the flexible flushing fixture 1.17 is as shown in FIG. Figure 2 As shown, a main water pipe groove 2.1, four auxiliary water pipe grooves 2.3 and an air pipe groove 2.4 are provided inside.

[0045] The flushing system comprises a water tank 1.3, a water pipe and a plurality of adjustable spiral spray heads 3.3 connected to an axial water pipe fixed in an inner groove of a flexible flushing fixture 1.17. The adjustable spiral spray heads 3.3 are connected to the water tank 1.3 through the water pipe.

[0046] The air pipe of the pneumatic system is fixed to the internal air pipe groove 2.4, the air inlet valve 2.6 is arranged at the bottom of the air pipe groove 2.4, and the air outlet valve 3.2 is arranged on the side of the flexible flushing fixture 1.17.

[0047] Furthermore, the rotating platform 1.4 is embedded in the transporter vehicle 1.1, and a first motor and a slewing bearing 1.2 are arranged inside the rotating platform 1.4.

[0048] Furthermore, the drive box 1.11 is provided with second to tenth motors, and the second to tenth motors are respectively connected to nine screw rods through couplings, and the nine screw rods are evenly distributed along the circumference of 40 degrees. Slide blocks are provided on the screw rods, and the slide blocks are respectively connected to nine drive ropes 1.12. Nine wire holes are provided on the upper surface of the drive box 1.11, and each joint is driven by three drive ropes 1.12 spaced 120 degrees along the circumference. The nine wire holes on the upper surface of the drive box 1.11 correspond one by one to the wire holes 4.2 on the fixed ring 1.13.

[0049] Further, such as Figure 5 As shown, the clamping device includes an eleventh motor 5.1, a coupling 5.2, a slider 5.3, a screw 5.4, a fixing rod 5.6, a limit block 5.7 and a clamping link 5.5, and the end of the clamping link 5.5 is connected to the flexible flushing clamp 1.17; the screw 5.4 outputs the rotational motion provided by the eleventh motor 5.1 as a linear motion of the slider 5.3 on the screw 5.4, thereby realizing the clamping of the clamping link 5.5, and the limit block 5.7 prevents the clamp from over-closing.

[0050] Further, such as Figure 3 As shown, the flexible flushing clamp 1.17 realizes axial expansion and contraction by pneumatic means. The chamber 3.1 of the flexible flushing clamp 1.17 is formed by a series of regularly arranged corrugations. The uniformly distributed flexible fibers inside the corrugations guide the expansion and contraction of the flexible flushing clamp 1.17 and limit the radial expansion of the flexible flushing clamp 1.17.

[0051] Further, such as Figure 2 As shown, the main water pipe groove 2.1 extends circumferentially along the axial midpoint of the flexible flushing fixture 1.17, and the four auxiliary water pipe grooves 2.3 are connected to the main water pipe groove 2.1 and extend axially.

[0052] Furthermore, the water pipe adopts a nested telescopic water pipe at the hydraulic rigid mechanical arm 1.9, and a bellows is adopted from the water tank 1.3 to the hydraulic rigid mechanical arm 1.9, on the line-driven flexible mechanical arm 1.18 and inside the flexible flushing fixture 1.17 to achieve the purpose of expansion and contraction. Since the water pipe is fixed to the inner wall of the fixture, when the flexible flushing fixture 1.17 is axially expanded and contracted, the axially arranged bellows will also expand and contract accordingly.

[0053] Further, such as Figure 2 As shown in the figure, the unfolded plan view of the flexible flushing fixture, the air pipe groove 2.4 extends axially at the center of the flexible flushing fixture 1.17; the air pipe adopts a nested air pipe in the clamp of the hydraulic rigid mechanical arm 1.9, and a rubber air pipe is used inside the line-driven flexible mechanical arm 1.18 and the flexible flushing fixture 1.17. Since the air pipe is fixed to the inner wall of the fixture, when the flexible flushing fixture 1.17 is axially extended and contracted, the axially arranged rubber air pipe will also be extended and contracted accordingly, the air inlet valve 2.6 is arranged at the bottom of the air pipe groove, and the air outlet valve 3.3 is arranged on the side of the flexible flushing fixture 1.17. The water pipe and the air pipe enter the interior of the fixture through the through-pipe hole 2.5 of the flexible flushing fixture.

[0054] The wire-driven flexible robotic arm in the present invention is composed of three joints, but it is not limited to three joints. In different scenarios, the number of joints can be increased as needed, and the corresponding motors, lead screws, wire holes and drive ropes can also be increased.

[0055] A flushing method of an insulator flexible flushing device of the present invention comprises the following steps:

[0056] Step 1: The gear inside the rotating platform is driven by the first motor to perform a rotational motion, thereby controlling the hybrid robot arm to rotate to a suitable position.

[0057] Step 2: The hydraulic telescopic rod connected between the hydraulic rigid robotic arm and the rotating platform controls the pitch movement of the hybrid robotic arm through hydraulic drive. At the same time, the hydraulic rigid robotic arm also changes its own length through hydraulic drive, so that the position of the insulator enters the effective stroke of the line-driven flexible robotic arm; the retractable water pipe attached to the hydraulic rigid robotic arm also retracts and contracts with the extension and retraction of the hydraulic rigid robotic arm.

[0058] Step 3: By identifying the position information of the insulator in the system and transmitting it to the PLC control system, the nine motors in the drive box drive the linear motion of the lead screw, thereby driving the stretching and relaxation of the nine drive ropes, realizing the bending and twisting of each joint, so that the flexible flushing fixture can accurately wrap the insulator; the bellows attached to the line-drive flexible robotic arm also changes with the changes of the line-drive flexible robotic arm.

[0059] Step 4: In the clamping device, the end of the lead screw is connected to the connecting rod, and driven by the eleventh motor, the linear motion of the slider on the lead screw is converted into the clamping motion of the end of the connecting rod, thereby realizing the clamping of the flexible flushing clamp.

[0060] Step 5: Close the flexible flushing fixture, open the air inlet valve according to the actual length of the insulator in the control system, and the air compressor will pass gas into the air cavity of the flexible flushing fixture to change the pressure inside the air cavity to achieve axial extension of the flexible flushing fixture. After the required air pressure is reached in the air cavity, close the air inlet valve to keep the air pressure in the air cavity stable so that the axial expansion and contraction of the flexible flushing fixture can be maintained; open the exhaust valve on the flexible flushing fixture, close the air inlet valve, and the flexible flushing fixture returns to its original length; since the water pipes and air pipes in the auxiliary water pipe groove and the air pipe groove are fixed to the inner wall of the fixture, when the flexible flushing fixture expands and contracts axially, the water pipes and air pipes will also expand and contract accordingly.

[0061] Step 6: Open the water valve to flush the insulator. The water flow sprayed by the adjustable spiral nozzle reaches the surface of the insulator and still has a tendency to rotate, thereby forming a vortex to improve the flushing effect. At the same time, the adjustable fan-shaped nozzle is driven by the motor to swing to increase the flushing range. When the position of the adjustable fan-shaped nozzle moves away from or closer to the flexible clamp as it moves forward or backward, the swing angle range of the adjustable spiral nozzle will also change accordingly, ensuring complete flushing of the insulator or reducing the overlapping parts of the flushing areas of adjacent fan-shaped nozzles.

Claims

1. An insulator flexible flushing device, characterized in that: It comprises a transport device vehicle (1.1), a flushing system, a pneumatic device, a hybrid mechanical arm and a flexible flushing fixture (1.17); The transport device vehicle (1.1) is provided with a rotating platform (1.4), a water tank (1.3), an air compressor (1.5) and a hybrid mechanical arm; The hybrid mechanical arm is composed of a hydraulic rigid mechanical arm (1.9) and a line-driven flexible mechanical arm (1.18) connected together; The hydraulic rigid mechanical arm (1.9) is connected to the rotating platform (1.4) via a hinge seat and a hinge shaft (1.7), and the hinge seat and the rotating platform (1.4) are bolted together; a hydraulic telescopic rod (1.6) is also provided between the hydraulic rigid mechanical arm (1.9) and the rotating platform (1.4), and the hydraulic telescopic rod (1.6) and the rotating platform (1.4) and the hydraulic cylinder rigid mechanical arm (1.9) are rotated via a hinge (1.8); a drive box (1.11) is embedded at the end of the hydraulic rigid mechanical arm, and a support rod (1.19) is provided in the middle of the drive box (1.11); the side of the hydraulic rigid mechanical arm (1.9) is equidistantly connected to the buckle (1.10) for limiting the water pipe and the air pipe in the axial direction; The wire-driven flexible mechanical arm (1.18) comprises three movable joints consisting of a fixed ring (1.13), a center rod (1.15), a ball-joint universal joint (1.14) and a driving rope (1.12); each joint comprises, from bottom to top, a lower fixed ring, a center rod (1.15) and an upper fixed ring, and the lower fixed ring of the first joint is fixed to the upper surface of the driving box (1.11) by bolt connection; nine wire holes (4.2) are sequentially arranged on the circumference of the upper and lower fixed rings of each joint; the three joints are connected by the previous joint. The upper fixed ring of the first joint and the lower fixed ring of the next joint are connected by a ball joint universal joint (1.14), each joint is driven by three independent driving ropes (1.12) spaced 120 degrees along the circumference, and the three driving ropes (1.12) of each joint are connected to the upper fixed ring of the corresponding joint through the wire holes (4.2); the center of the fixed ring (1.13) is the center hole (4.3) of the fixed center rod (1.15); the side of the fixed ring (1.13) is provided with a water pipe buckle (4.1) and an air pipe buckle (4.4); A clamping device (1.16) is provided on the upper surface of the fixed ring (1.13) at the end of the line-driven flexible mechanical arm (1.18), and the clamping device (1.16) is connected to a flexible flushing fixture (1.17); a main water pipe groove (2.1), four auxiliary water pipe grooves (2.3) and an air pipe groove (2.4) are provided inside the flexible flushing fixture (1.17); The flushing system comprises a water tank (1.3), a water pipe and a plurality of adjustable spiral spray heads (3.3) connected to an axial water pipe fixed in an inner groove of a flexible flushing fixture (1.17); the adjustable spiral spray heads (3.3) are connected to the water tank (1.3) via the water pipe; The air pipe of the pneumatic system is fixed to the internal air pipe groove (2.4), the air inlet valve (2.6) is arranged at the bottom of the air pipe groove (2.4), and the air outlet valve (3.2) is arranged on the side of the flexible flushing fixture (1.17).

2. The flexible flushing device for insulators according to claim 1, characterized in that: The rotating platform (1.4) is embedded in the transport device vehicle (1.1), and a first motor and a slewing bearing (1.2) are provided inside the rotating platform (1.4).

3. The flexible flushing device for insulators according to claim 1, characterized in that: The drive box (1.11) is provided with second to tenth motors, which are respectively connected to nine screw rods through couplings, the nine screw rods are evenly distributed along a circumference of 40 degrees, the screw rods are provided with sliders, the sliders are respectively connected to nine drive ropes (1.12), the upper surface of the drive box (1.11) is provided with nine wire holes, each joint is driven by three drive ropes (1.12) spaced 120 degrees along the circumference, and the nine wire holes on the upper surface of the drive box (1.11) correspond one-to-one to the wire holes (4.2) on the fixed ring (1.13).

4. The flexible flushing device for insulators according to claim 1, characterized in that: The clamping device comprises an eleventh motor (5.1), a coupling (5.2), a slider (5.3), a lead screw (5.4), a fixing rod (5.6), a limit block (5.7) and a clamping link (5.5); the end of the clamping link (5.5) is connected to a flexible flushing clamp (1.17); the lead screw (5.4) outputs the rotational motion provided by the eleventh motor (5.1) as a linear motion of the slider (5.3) on the lead screw (5.4), thereby achieving the clamping of the clamping link (5.5); the limit block (5.7) prevents the clamp from being over-closed.

5. The flexible flushing device for insulators according to claim 1, characterized in that: The flexible flushing fixture (1.17) achieves axial expansion and contraction changes by pneumatic means. The chamber (3.1) of the flexible flushing fixture (1.17) is formed by a series of regularly arranged corrugations, and flexible fibers are evenly distributed inside the corrugations.

6. The flexible flushing device for insulators according to claim 1, characterized in that: The main water pipe groove (2.1) extends circumferentially along the axial midpoint of the flexible flushing fixture (1.17), and the four auxiliary water pipe grooves (2.3) are connected to the main water pipe groove (2.1) and extend axially.

7. The flexible flushing device for insulators according to claim 6, characterized in that: The water pipe adopts a nested telescopic water pipe at the hydraulic rigid mechanical arm (1.9), and adopts a bellows from the water tank (1.3) to the hydraulic rigid mechanical arm (1.9), on the online drive type flexible mechanical arm (1.18) and inside the flexible flushing fixture (1.17).

8. The flexible flushing device for insulators according to claim 1, characterized in that: The air pipe groove (2.4) extends axially at the center of the flexible flushing fixture (1.17); the air pipe adopts a nested air pipe in the clamp of the hydraulic rigid mechanical arm (1.9), and a rubber air pipe is adopted inside the online drive type flexible mechanical arm (1.18) and the flexible flushing fixture (1.17).

9. A flushing method for an insulator flexible flushing device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: The gear inside the rotating platform is driven by the first motor to perform a rotating motion, thereby controlling the hybrid robot arm to rotate to a suitable position; Step 2: The hydraulic telescopic rod connected between the hydraulic rigid manipulator and the rotating platform controls the pitch motion of the hybrid manipulator through hydraulic drive. At the same time, the hydraulic rigid manipulator also changes its own length through hydraulic drive, so that the position of the insulator enters the effective stroke of the line-driven flexible manipulator; the telescopic water pipe attached to the hydraulic rigid manipulator also telescopes with the telescopic movement of the hydraulic rigid manipulator; Step 3: By identifying the position information of the insulator in the system and transmitting it to the PLC control system, the nine motors in the drive box drive the linear motion of the lead screw, thereby driving the stretching and relaxation of the nine drive ropes, realizing the bending and twisting of each joint, so that the flexible flushing fixture can accurately wrap the insulator; the bellows attached to the line-driven flexible robotic arm also changes with the changes of the line-driven flexible robotic arm; Step 4: In the clamping device, the end of the lead screw is connected to the connecting rod, and driven by the eleventh motor, the linear motion of the slider on the lead screw is converted into the clamping motion of the end of the connecting rod, thereby realizing the clamping of the flexible flushing fixture; Step 5: Close the flexible flushing fixture, open the air inlet valve according to the actual length of the insulator in the control system, and let the air compressor pass gas into the air cavity of the flexible flushing fixture to change the pressure inside the air cavity to achieve the axial extension of the flexible flushing fixture. After the required air pressure is reached in the air cavity, close the air inlet valve to keep the air pressure in the air cavity stable so that the axial extension of the flexible flushing fixture can be maintained; Open the exhaust valve on the flexible flushing fixture, close the air inlet valve, and the flexible flushing fixture returns to its original length; because the water pipes and air pipes in the auxiliary water pipe groove and the air pipe groove are fixed on the inner wall of the fixture, when the flexible flushing fixture is axially extended or contracted, the water pipes and air pipes will also be extended or contracted accordingly; Step 6: Open the water valve to flush the insulator. The water flow sprayed by the adjustable spiral nozzle reaches the surface of the insulator and still has a tendency to rotate, thereby forming a vortex to improve the flushing effect. At the same time, the adjustable fan-shaped nozzle is driven by the motor to swing to increase the flushing range. When the position of the adjustable fan-shaped nozzle moves away from or closer to the flexible clamp as it moves forward or backward, the swing angle range of the adjustable spiral nozzle will also change accordingly, ensuring complete flushing of the insulator or reducing the overlapping parts of the flushing areas of adjacent fan-shaped nozzles.

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